二级倒立摆控制器的仿真与设计

Imitation and Design of Controller Double Inverted Pendulum

该文运用现代控制理论并以MATLAB语言为辅助设计工具,在计算机上进行二级倒立摆系统的外控制器的分析与设计工作。用模拟电路实现了外控制器,并在二级倒立摆上实验成功。证实了降阶观测器可以用模拟电路近似实现,即使是较复杂的系统,现代控制理论的应用也不一定要求运算的高精度。用于现代控制理论实验课教学中便于学生理解和接受。

This paper use modern control theory and with MATLAB language as assistant design tool, carry out analysis and design work of outer controller of double inverted pendulum system depend on computer, implement outer controller with analog circuit, and achieve successful experiment in the double inverted pendulum system. It is approved that minimum-order observer come true approximately with analog circuit, even is more complex system, applications of modern control theory don't request high precision of operation. It is convenient for students understand and accept in modern control theory experiment